@Article{LeSeVaScJoTrBe-TRO-2022,
    author    = {Leahy, Kevin and Serlin, Zachary and Vasile, Cristian Ioan and Schoer, Andrew and Jones, Austin M. and Tron, Roberto  and Belta, Calin},
    title     = {{Scalable and Robust Algorithms for Task-Based Coordination From High-Level Specifications (ScRATCHeS)}},
    month     = {August},
    year      = {2022},
    journal   = {IEEE Transactions on Robotics},
    volume    = {38},
    number    = {4},
    pages     = {2516--2535},
    note      = {\href{https://ieeexplore.ieee.org/document/9663414}{doi:10.1109/TRO.2021.3130794}}
}